# Revision history [back]

I finally found my own answer, just posting it here if by any chance anybody in the future is interested.

The code that really parses this XML file is the sdformat library, source code can be found here: https://bitbucket.org/osrf/sdformat/src/default/

In my case, I cloned the branch 6_to_default.
The exact place where the parsing takes place is in file src/parse_urdf.cc in function line 1215:

void URDF2SDF::ParseSDFExtension(TiXmlDocument &_urdfXml)

Here you will be able to read the exact tags that are supported and parsed. If you follow a suggested answer in a thread and that does not work for you, take into account that some of the examples I have seen are wrong, for example tag \<self_collide\&gt; is="" not="" parsed="" in="" the="" <gazebo=""> extension, the correct tag is <selfcollide>. Almost the same, but not quite.

Cheers.

 2 No.2 Revision Peter Mitrano 768 ●10 ●20 ●31 http://petermitrano.gi...

I finally found my own answer, just posting it here if by any chance anybody in the future is interested.

The code that really parses this XML file is the sdformat library, source code can be found here: https://bitbucket.org/osrf/sdformat/src/default/

In my case, I cloned the branch 6_to_default.
The exact place where the parsing takes place is in file src/parse_urdf.cc in function line 1215:

void URDF2SDF::ParseSDFExtension(TiXmlDocument &_urdfXml)

Here you will be able to read the exact tags that are supported and parsed. If you follow a suggested answer in a thread and that does not work for you, take into account that some of the examples I have seen are wrong, for example tag \<self_collide\&gt; is="" not="" parsed="" in="" the="" <gazebo=""> <self_collide> is not parsed in the <gazebo> extension, the correct tag is <selfcollide>. Almost the same, but not quite.

Cheers.

 3 No.3 Revision Peter Mitrano 768 ●10 ●20 ●31 http://petermitrano.gi...

I finally found my own answer, just posting it here if by any chance anybody in the future is interested.

The code that really parses this XML file is the sdformat library, source code can be found here: https://bitbucket.org/osrf/sdformat/src/default/

In my case, I cloned the branch 6_to_default.
The exact place where the parsing takes place is in file src/parse_urdf.cc in function line 1215:

void URDF2SDF::ParseSDFExtension(TiXmlDocument &_urdfXml)

Here you will be able to read the exact tags that are supported and parsed. If you follow a suggested answer in a thread and that does not work for you, take into account that some of the examples I have seen are wrong, for example tag <self_collide> self_collide is not parsed in the <gazebo> gazebo extension, the correct tag is <selfcollide>. selfCollide. Almost the same, but not quite.

Cheers.